Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion. - Diego Pardo; Michael Neunert; Alexander W. Winkler; Ruben Grandia; Jonas Buchli (Robotics: Science and Systems, 2017)

Contact Invariant Model Learning for Legged Robot Locomotion. - Ruben Grandia; Diego Pardo; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. - Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (ICRA, 2019)

Feedback MPC for Torque-Controlled Legged Robots. - Ruben Grandia; Farbod Farshidian; René Ranftl; Marco Hutter 001 (IROS, 2019)

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation. - Jean-Pierre Sleiman; Jan Carius; Ruben Grandia; Martin Wermelinger; Marco Hutter 001 (IROS, 2019)

Frequency-Aware Model Predictive Control. - Ruben Grandia; Farbod Farshidian; Alexey Dosovitskiy; René Ranftl; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Haptic Inspection of Planetary Soils With Legged Robots. - Hendrik Kolvenbach; Christian Bärtschi; Lorenz Wellhausen; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Whole-Body MPC for a Dynamically Stable Mobile Manipulator. - Maria Vittoria Minniti; Farbod Farshidian; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. - Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter 001; Aaron D. Ames (Robotics: Science and Systems, 2020)

Towards autonomous inspection of concrete deterioration in sewers with legged robots. - Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice F. Fallon; Marco Hutter 001 (J. Field Robotics, 2020)

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet. - Giorgio Valsecchi; Ruben Grandia; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. - Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter 001 (ICRA, 2021)

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. - Maria Vittoria Minniti; Ruben Grandia; Kevin Fäh; Farbod Farshidian; Marco Hutter 001 (ICRA, 2021)

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots. - Marko Bjelonic; Ruben Grandia; Oliver Harley; Cla Galliard; Samuel Zimmermann; Marco Hutter 001 (IROS, 2021)

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (Humanoids, 2022)

Elevation Mapping for Locomotion and Navigation using GPU. - Takahiro Miki; Lorenz Wellhausen; Ruben Grandia; Fabian Jenelten; Timon Homberger; Marco Hutter 001 (IROS, 2022)

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (CoRR, 2022)

Offline motion libraries and online MPC for advanced mobility skills. - Marko Bjelonic; Ruben Grandia; Moritz Geilinger; Oliver Harley; Vivian Suzano Medeiros; Vuk Pajovic; Edo Jelavic; Stelian Coros; Marco Hutter 001 (Int. J. Robotics Res., 2022)

Adaptive CLF-MPC With Application to Quadrupedal Robots. - Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. - Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. - Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter 001; Moritz Bächer (ACM Trans. Graph., 2023)

Perceptive Locomotion Through Nonlinear Model-Predictive Control. - Ruben Grandia; Fabian Jenelten; Shaohui Yang; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

Optimal Design of Robotic Character Kinematics. - Guirec Maloisel; Christian Schumacher; Espen Knoop; Ruben Grandia; Moritz Bächer (ACM Trans. Graph., 2023)

Design and Control of a Bipedal Robotic Character. - Ruben Grandia; Espen Knoop; Michael A. Hopkins; Georg Wiedebach; Jared Bishop; Steven Pickles; David Müller 011; Moritz Bächer (Robotics: Science and Systems, 2024)

Robot Motion Diffusion Model: Motion Generation for Robotic Characters. - Agon Serifi; Ruben Grandia; Espen Knoop; Markus Gross 001; Moritz Bächer (SIGGRAPH Asia, 2024)

Data for "Attention-Based Map Encoding for Learning Generalized Legged Locomotion". - Junzhe He; Chong Zhang; Fabian Jenelten; Ruben Grandia; Moritz Bächer; Marco Hutter 001 (Zenodo, 2024)

VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters. - Agon Serifi; Ruben Grandia; Espen Knoop; Markus Gross 001; Moritz Bächer (Comput. Graph. Forum, 2024)

Attention-based map encoding for learning generalized legged locomotion. - Junzhe He; Chong Zhang; Fabian Jenelten; Ruben Grandia; Moritz Bächer; Marco Hutter 001 (Sci. Robotics, 2025)

Autonomous Human-Robot Interaction via Operator Imitation. - Sammy Christen; David Müller 011; Agon Serifi; Ruben Grandia; Georg Wiedebach; Michael A. Hopkins; Espen Knoop; Moritz Bächer (CoRR, 2025)

On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops. - Vassilios Tsounis; Ruben Grandia; Moritz Bächer (CoRR, 2025)

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning. - Lucas N. Alegre; Agon Serifi; Ruben Grandia; David Müller 011; Espen Knoop; Moritz Bächer (CoRR, 2025)

A Versatile Quaternion-Based Constrained Rigid Body Dynamics. - Guirec Maloisel; Ruben Grandia; Christian Schumacher; Espen Knoop; Moritz Bächer (ACM Trans. Graph., 2025)